ROS2 Gazebo

#ign   #gz   #ros2  

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Table of Content

gz environment variables

IGN_GAZEBO_RESOURCE_PATH
IGN_GAZEBO_SYSTEM_PLUGIN_PATH

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ROS2

ROS2 copy folder to install folder

install(DIRECTORY
    launch
    models
    world
DESTINATION share/${PROJECT_NAME}
)

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minimum launch

import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription, SetEnvironmentVariable
from launch.launch_description_sources import PythonLaunchDescriptionSource

def generate_launch_description():
    ld = LaunchDescription()

    pkg_ros_gz_sim = get_package_share_directory('ros_gz_sim')
    pkg = get_package_share_directory('ign_tutorial')

    resources = [
        os.path.join(pkg, "worlds"),
        os.path.join(pkg, "models")
    ]
    resource_env = SetEnvironmentVariable(name="IGN_GAZEBO_RESOURCE_PATH", value=":".join(resources))

    gazebo = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            os.path.join(pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py')),
            launch_arguments={'gz_args': '-r -v 2 empty.sdf'}.items(),
    )

    ld.add_action(resource_env)
    ld.add_action(gazebo)
    return ld